cmake_minimum_required(VERSION 3.1.3)
project(moveit_tutorials)

add_compile_options(-std=c++11)

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_EXTENSIONS OFF)

find_package(catkin REQUIRED
  COMPONENTS
    interactive_markers
    moveit_core
    moveit_visual_tools
    moveit_ros_planning
    moveit_ros_planning_interface
    moveit_ros_perception
    pluginlib
    geometric_shapes
    pcl_ros
    pcl_conversions
    rosbag
    tf2_ros
    tf2_eigen
    tf2_geometry_msgs
    actionlib


    control_msgs
    diagnostic_msgs
    geometry_msgs
    moveit_msgs
    moveit_ros_perception
    moveit_ros_planning_interface
    roscpp
    rospy
    sensor_msgs
    shape_msgs
    std_msgs
    std_srvs
    tf
    trajectory_msgs
)

find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED system filesystem date_time thread)

set(THIS_PACKAGE_INCLUDE_DIRS
  doc/interactivity/include
)

catkin_package(
  LIBRARIES
  INCLUDE_DIRS
  CATKIN_DEPENDS
    moveit_core
    moveit_visual_tools
    moveit_ros_planning_interface
    interactive_markers
    tf2_geometry_msgs
  DEPENDS
    EIGEN3
)

###########
## Build ##
###########

include_directories(${THIS_PACKAGE_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIR} ${EIGEN3_INCLUDE_DIRS})


add_subdirectory(examples/move_group_interface)
add_subdirectory(examples/controller_configuration)
add_subdirectory(examples/creating_moveit_plugins/lerp_motion_planner)

